version: 66.02
glider: 103
mission: 7
dive: 459
start: 2 1 108 5 45 47
data:
$ID,103
$MISSION,7
$DIVE,459
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,571.30371
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-72411.305
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2901
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.98249
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712188
$SEABIRD_T_H,0.00064056052
$SEABIRD_T_I,2.37435e-05
$SEABIRD_T_J,2.3296527e-06
$SEABIRD_C_G,-9.8560104
$SEABIRD_C_H,1.1097485
$SEABIRD_C_I,-0.0009817977
$SEABIRD_C_J,0.00017126031
$GPS1,051701,6126.822,-905.114,38,1.4,38,-9.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.50
$_SM_ANGLEo,-43.1
$GPS2,054515,6126.519,-905.344,16,1.7,16,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.020,-0.218
$KALMAN_X,-132816.5,336.3,-67.9,-69746.9,3448.5
$KALMAN_Y,-172894.2,-517.8,223.0,462266.0,3982.7
$MHEAD_RNG_PITCHd_Wd,96.9,22450,-11.1,-6.000
$D_GRID,448
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,136,0.00,0.00,-108.00,0.000,6,0.000,0.000,40,2901,3501
$GC,140,-1.10,-146.6,2.5,-3.4,5,161,11.95,2.67,0.00,0.000,4,0.156,0.067,2163,1491,3503
$GC,365,-1.10,-146.6,49.5,-12.3,15,369,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2901,3503
$GC,691,-1.10,-146.6,84.0,-9.1,31,696,0.00,2.60,0.00,0.000,4,0.000,0.060,2163,1484,3503
$GC,742,-1.10,-146.6,89.1,-10.4,33,747,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2898,3503
$GC,1058,-1.10,-146.6,118.1,-6.2,48,1062,0.00,1.73,0.00,0.000,4,0.000,0.102,2163,3786,3504
$GC,1120,-1.10,-146.6,121.4,-4.9,50,1126,0.00,1.62,0.00,0.000,6,0.000,0.054,2163,2897,3503
$GC,1436,-1.10,-146.6,146.7,-8.1,66,1440,0.00,1.75,0.00,0.000,4,0.000,0.098,2163,3786,3503
$GC,1537,-1.10,-146.6,156.7,-9.6,70,1541,0.00,1.60,0.00,0.000,6,0.000,0.054,2163,2894,3503
$GC,1859,-1.10,-146.6,179.7,-7.0,86,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2894,3503
$GC,2169,-1.10,-146.6,191.2,-2.0,101,2173,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1477,3503
$GC,2209,-1.10,-146.6,192.0,-2.8,103,2213,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2900,3503
$GC,2536,-1.10,-146.6,203.0,-3.9,119,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,2845,-1.10,-146.6,216.2,-4.3,134,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,3154,-1.10,-146.6,235.2,-7.0,149,3157,0.00,1.70,0.00,0.000,4,0.000,0.097,2163,3784,3504
$GC,3204,-1.10,-146.6,239.9,-8.9,151,3207,0.00,1.58,0.00,0.000,6,0.000,0.049,2163,2895,3503
$GC,3531,-1.10,-146.6,261.7,-6.2,167,3535,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1486,3503
$GC,3597,-1.10,-146.6,268.5,-11.0,170,3602,0.00,2.67,0.00,0.000,6,0.000,0.072,2163,2905,3504
$GC,3919,-1.10,-146.6,297.9,-6.1,186,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3503
$GC,4228,-1.10,-146.6,318.4,-6.8,201,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3503
$GC,4538,-1.10,-146.6,341.0,-7.5,216,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3503
$GC,4847,-1.10,-146.6,363.6,-7.9,231,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3503
$GC,5156,-1.10,-146.6,383.8,-6.4,246,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3503
$GC,5466,-1.10,-146.6,408.0,-7.5,261,5470,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1487,3503
$GC,5499,-1.10,-146.6,411.0,-8.9,262,5505,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2901,3503
$GC,5814,-1.10,-146.6,435.2,-7.3,278,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$STATE,5997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5997,begin apogee
$GC,6006,-0.42,0.0,448.9,7.5,287,6133,0.77,0.00,124.10,1.105,6,0.097,0.000,2317,2094,2901
$STATE,6134,end apogee,CONTROL_FINISHED_OK
$STATE,6134,begin climb
$GC,6137,1.10,146.6,453.9,0.0,293,6268,1.55,2.62,120.50,1.066,4,0.060,0.053,2647,691,2303
$GC,6383,1.13,168.8,449.5,5.4,304,6408,0.00,2.50,20.33,1.001,6,0.000,0.033,2647,2123,2212
$GC,6719,1.17,203.3,433.6,5.0,320,6754,0.00,2.60,29.77,1.032,4,0.000,0.061,2647,3507,2072
$GC,6811,1.18,208.6,428.7,5.9,323,6823,0.00,2.47,6.12,0.836,6,0.000,0.033,2647,2093,2050
$GC,7132,1.18,208.6,408.3,6.1,339,7137,0.00,2.62,0.00,0.000,4,0.000,0.065,2647,3506,2050
$GC,7165,1.18,208.6,405.5,8.3,340,7171,0.00,2.47,0.00,0.000,6,0.000,0.038,2647,2097,2050
$GC,7481,1.18,208.6,376.5,9.4,356,7485,0.00,2.60,0.00,0.000,4,0.000,0.066,2647,3501,2050
$GC,7525,1.18,208.6,372.6,8.2,358,7530,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2097,2050
$GC,7846,1.18,208.6,346.8,9.1,374,7850,0.00,2.60,0.00,0.000,4,0.000,0.066,2647,3502,2049
$GC,7890,1.18,208.6,341.7,11.4,376,7894,0.00,2.50,0.00,0.000,6,0.000,0.041,2647,2092,2049
$GC,8211,1.18,208.6,317.4,7.3,392,8215,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3504,2049
$GC,8244,1.18,208.6,315.3,6.6,393,8250,0.00,2.50,0.00,0.000,6,0.000,0.043,2647,2096,2049
$GC,8559,1.18,208.6,284.4,11.3,409,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2095,2049
$GC,8869,1.18,208.6,249.2,12.2,424,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2095,2049
$GC,9178,1.18,208.6,214.7,11.0,439,9183,0.00,2.62,0.00,0.000,4,0.000,0.071,2647,3500,2049
$GC,9223,1.18,208.6,210.1,10.4,441,9227,0.00,2.50,0.00,0.000,6,0.000,0.046,2647,2095,2048
$GC,9544,1.34,339.4,190.7,2.4,457,9655,0.22,2.60,104.60,0.948,4,0.038,0.062,2709,698,1517
$GC,9700,1.34,339.4,177.9,10.9,464,9706,0.00,2.53,0.00,0.000,6,0.000,0.050,2709,2092,1517
$GC,10016,1.34,339.4,141.6,13.5,480,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2092,1516
$GC,10327,1.34,339.4,102.1,9.6,495,10331,0.00,2.67,0.00,0.000,4,0.000,0.076,2708,3512,1516
$GC,10367,1.34,339.4,97.2,12.5,497,10371,0.00,2.53,0.00,0.000,6,0.000,0.048,2709,2100,1516
$GC,10694,1.34,339.4,52.5,14.9,513,10698,0.00,2.58,0.00,0.000,4,0.000,0.063,2709,691,1516
$GC,10744,1.34,339.4,46.4,12.5,515,10749,0.00,2.55,0.00,0.000,6,0.000,0.050,2709,2107,1516
$GC,11061,1.42,403.5,15.9,4.2,530,11117,0.00,2.72,51.03,0.847,4,0.000,0.069,2709,688,1256
$STATE,11221,end climb,SURFACE_DEPTH_REACHED
$STATE,11221,begin surface coast
$FINISH,1.3,1.027336
$STATE,11229,end surface coast,CONTROL_FINISHED_OK
$STATE,11230,begin surface
$SM_CCo,11257,132.68,0.782,1,0,572,571.30
$SM_GC,-0.53,0.00,0.00,132.68,0.000,0.000,0.782,44,2906,572,-10.88,0.17,571.30
$IRIDIUM_FIX,6103.81,-902.57,270497,050539
$TT8_MAMPS,0.029146
$HUMID,2014
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,375.2,101.3
$24V_AH,23.3,76.488
$10V_AH,10.1,35.535
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.450,95.725,456.450,132.675,0.000,190.795,205.707,899.129,3.250,0.000,0.000,16.677,997.294,8582.604,679.295,1262.268,1586.400,0.000,1362.968,0.000,1237.188,0.000,20.212
$DEVICE_MAMPS,155.701,102.011,1105.247,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.503,367.809,357.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25424,537
$CFSIZE,260165632,233795584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,010208,085710,6125.632,-903.807,42,1.8,50,-9.2